Preheat oven to 160°C. Grease and line a 20cm square cake pan (if you are using a loose-bottomed pan, place a folded sheet of foil around the base in case some of the maple syrup leaks).
Pour maple syrup into the base of the pan. Slice bananas in half lengthways and layer them, cut-side down, in the pan. Using a stand mixer, beat butter and sugar until thick and pale. Add eggs, 1 at a time, beating well after each addition. Beat in vanilla, then fold in the our, nuts, bicarb and cinnamon.
Fold in yoghurt until combined. Carefully spread the batter over bananas in pan. Bake for 45-50 minutes until a skewer inserted into the centre comes out clean. Pierce hot cake all over with a skewer, then drizzle over rum.
Set aside for 2 minutes to soak, then remove the cake from pan and transfer, bottom-side up, to a wire rack to cool slightly.
For the Bundy rum sauce, place the butter, cream, sugar and maple syrup in a saucepan over medium heat, stirring until the butter melts. Cook for a further 10 minutes or until thickened slightly.
Remove from heat and stir through rum. Set aside to cool slightly . Drizzle warm cake with a little rum sauce and serve with ice cream and remaining sauce on the side.